JP7491345B2 - Rice transplanter - Google Patents

Description

The present invention relates to a rice transplanter for planting seedlings in a field.

Conventionally, when planting seedlings in a farm field, the planter travels back and forth in the central area to plant, and then travels around the remaining headland area to plant the seedlings (Patent Document 1).

JP 2008-289399 A

However, we found that such conventional technology had problems, as shown in Figure 9.

In other words, when the rice transplanter plants seedlings in a field, it usually travels back and forth in the central area 102 while planting, and then goes around once or twice to plant in the remaining headland planting area 101 on the periphery.

Then, in the fall, when the combine harvester 103 is used to harvest, it usually starts from the outer periphery, but problems can arise depending on the harvesting width range W of the combine harvester 103.

For example, if the planting in the headland planting area 101 is done with an 8-row planting rice transplanter and the harvesting width range W of the combine harvester 103 is 5-row harvesting, as in the case of FIG. 9, when the combine harvester 103 harvests in its second rotation, or when a 10-row harvesting combine harvester harvests in its first rotation, by matching the harvesting row spacing of the combine harvester 103 with the planting row spacing of the 8-row planting rice transplanter, the grass splitter of the combine harvester 103 will not penetrate the rice stalks and split the stalks for the 8 rows of seedlings in the headland planting area 101, but in the case of FIG. 9, the grass splitter on the left side of the harvesting running direction of the combine harvester 103 is harvested while protruding into the central area 102, so that in the protruding area 104, the stalk may split the stalks.

In other words, planting in the overhanging area 104 is done in the central area 102 of the rice transplanter, so planting is done by going back and forth. Therefore, in cases like Figure 9, there are times when the traveling direction of the combine 103 in the headland planting area 101 and the direction of the back and forth traveling are perpendicular to each other. In other words, because the spacing between plants during back and forth traveling is the harvesting row spacing when viewed from the combine 103 side, and because the spacing between plants is usually narrower than the row spacing, in the overhanging area 104, it is possible that the grass splitter will split the plants.

The objective of the present invention is to provide a rice transplanter that does not cause stalk splitting due to the cutting of grass when harvesting with a combine.

The present invention relates to
In a rice transplanter with adjustable spacing, the planting is performed by traveling back and forth in the central area of the field, and then the planting is performed by traveling on the headland area at the edge of the ridge.
The planting row spacing of the planting by the headland traveling and the harvesting row spacing of the harvesting in the headland area of the combine harvester performed later are the same,
In the case where the combine harvester is scheduled to travel later in the direction perpendicular to the direction of travel of the rice transplanter and to harvest in the headland area, the reaping width range W is expected to extend beyond the headland area to the planted stubble in the central area,
A control unit is provided that controls the spacing between the plants (a1, a2) to be planted in at least the protruding region during planting in the reciprocating travel to be wider than the normal spacing between the plants in other regions that are not protruding,
The normal spacing is narrower than the planting row spacing;
When planting in the reciprocating travel, the spacing between at least the plants (a1, a2) in the protruding area to be protruding is controlled to be the same as the harvesting row spacing of the combine,
In the central region, the distance between the plant (a2) that is the closest to the other region among the plants (a1, a2) in the protruding region and the plant (a3) in the other region adjacent to the plant (a2) is also set to the same as the harvest row distance;
When planting in the reciprocating travel, at least the planting position of the stumps (a1, a2) in the protruding area to be protruding is controlled so as to coincide with a position that is an integer multiple of the row spacing (however, a value that exceeds the number of rows for planting in the headland) from the closer ridge,
This rice transplanter is characterized in that in the central region, the planting position of the plant (a3) in the other region adjacent to the plant (a2) among the plants (a1, a2) in the protruding region that is closest to the other non-protruding regions is also aligned to a position that is an integer multiple of the spacing between the rows (however, the integer multiple + 1).
The first invention related to the present invention is a rice transplanter capable of adjusting the spacing between plants, which performs planting by traveling back and forth in the central area of a field, and then performs planting by traveling on the headland in the headland area at the edge of the ridge,
The planting row spacing of the planting by the headland traveling and the harvesting row spacing of the harvesting in the headland area of the combine harvester performed later are the same,
In the case where the reaping width range W in which the combine harvester is to travel later and harvest in the headland area in a direction perpendicular to the direction of travel of the rice transplanter is expected to extend beyond the headland area to the planted stubble in the central area,
This rice transplanter is characterized by having a control unit that controls the spacing between at least the plants (a1, a2) to be planted in the protruding area to be wider than the normal spacing between plants in other areas that are not protruding, when planting during the reciprocating travel.

The second invention related to the present invention is
This is a rice transplanter of the first invention related to the present invention, in which, in the central region, the distance between the plant (a2) among the plants (a1, a2) in the protruding region that is closest to the other region and the plant (a3) in the other region adjacent to that plant (a2) is controlled to be wider than the usual distance between plants in the other region.

The third invention related to the present invention is
In a rice transplanter with adjustable spacing, the planting is performed by traveling back and forth in the central area of the field, and then the planting is performed by traveling on the headland area at the edge of the ridge.
The planting row spacing of the planting by the headland traveling and the harvesting row spacing of the harvesting in the headland area of the combine harvester performed later are the same,
In the case where the reaping width range W in which the combine harvester is to travel later and harvest in the headland area in a direction perpendicular to the direction of travel of the rice transplanter is expected to extend beyond the headland area to the planted stubble in the central area,
This rice transplanter is equipped with a control unit that controls the spacing between at least the plants (a1, a2) in the protruding area during planting during the reciprocating travel to be the same as the harvesting row spacing of the combine.

The fourth invention related to the present invention is
This is a third invention of a rice transplanter related to the present invention, in which, in the central region, the distance between the plant (a2) among the plants (a1, a2) in the protruding region that is closest to the other region and the plant (a3) in the other region adjacent to that plant (a2) is also controlled to be the same as the harvesting row distance.

The fifth invention related to the present invention is
In a rice transplanter with adjustable spacing, the planting is performed by traveling back and forth in the central area of the field, and then the planting is performed by traveling on the headland area at the edge of the ridge.
The planting row spacing of the planting by the headland traveling and the harvesting row spacing of the harvesting in the headland area of the combine harvester performed later are the same,
In the case where the reaping width range W in which the combine harvester is to travel later and harvest in the headland area in a direction perpendicular to the direction of travel of the rice transplanter is expected to extend beyond the headland area to the planted stubble in the central area,
This rice transplanter is equipped with a control device that controls the planting positions of at least the plants (a1, a2) in the protruding area that are scheduled to protrude during planting during the reciprocating movement so that they coincide with a position that is an integer multiple of the row spacing (but a value that exceeds the number of rows for planting in the headland) from the closer ridge.

The sixth invention related to the present invention is
This is a fifth invention of a rice transplanter related to the present invention, in which, in the central region, the planting position of the plant (a3) in the other region adjacent to the plant (a2) among the plants (a1, a2) in the protruding region that is closest to the other non-protruding regions is also aligned with a position that is an integer multiple of the spacing between the rows (however, the integer multiple + 1).

The seventh invention related to the present invention is
In a rice transplanter with adjustable spacing, the planting is performed by traveling back and forth in the central area of the field, and then the planting is performed by traveling on the headland area at the edge of the ridge.
The planting row spacing of the planting by the headland traveling and the harvesting row spacing of the harvesting in the headland area of the combine harvester performed later are the same,
In the case where the reaping width range in which the combine harvester is to travel later and harvest in the headland area in a direction perpendicular to the direction of travel of the rice transplanter is expected to extend beyond the headland area to the planted stubble in the central area,
When planting in the central area while approaching the ridge, the planting position of the plant to be planted in the protruding area on the approaching ridge side is as follows:
Among the plants (c91, c92) that can be planted in the protruding area as they approach, assuming that they are planted at normal intervals in other areas that are not protruding, the plant (c92) that would invade the headland area if planted at the intervals is not planted,
This rice transplanter is characterized by the fact that when it then makes a U-turn and moves away from the ridge, it plants the stalks horizontally next to the ones that have already been planted.

The eighth invention related to the present invention is
The normal spacing is narrower than the planting row spacing;
When planting in the reciprocating travel, the spacing between at least the plants (a1, a2) in the protruding area to be protruding is controlled to be the same as the harvesting row spacing of the combine,
In the central region, the distance between the plant (a2) that is the closest to the other region among the plants (a1, a2) in the protruding region and the plant (a3) in the other region adjacent to the plant (a2) is also set to the same as the harvest row distance;
When planting in the reciprocating travel, at least the planting position of the stumps (a1, a2) in the protruding area to be protruding is controlled so as to coincide with a position that is an integer multiple of the row spacing (however, a value that exceeds the number of rows for planting in the headland) from the closer ridge,
This is a rice transplanter of the first invention related to the present invention, in which, in the central region, the planting position of the plant (a3) in the other region adjacent to the plant (a2) among the plants (a1, a2) in the protruding region that is closest to the other non-protruding regions is also aligned to a position that is an integer multiple of the spacing between the rows (however, the integer multiple + 1).

The ninth invention related to the present invention is
In a riding rice transplanter, the amount of seedlings harvested can be adjusted by electrically raising and lowering the seedling tank.
This is a riding rice transplanter that, when switching the planting clutch on and off, performs a retry by moving the seedling tank to a height a predetermined amount higher than the currently set target height and then moving it back to the target height.

The present invention makes it easier to guide the combine's blade between plants when harvesting with a combine harvester, even in overhanging areas, making it easier to align the harvesting part in rows and improving harvesting efficiency.

FIG. 1 is a side view of a rice transplanter according to an embodiment of the present invention. Plan view to explain the operation of the rice transplanter (part 1) Plan view to explain the operation of the rice transplanter (part 2) Plan view to explain the operation of the rice transplanter (part 3) Structural diagram of GNSS device etc. related to the present invention (a) and (b) Structural diagrams of the GNSS device, remote control antenna, three-color light, etc. (a) and (b) Structural diagrams of the GNSS device, remote control antenna, three-color light, etc. (a) and (b) Structural diagrams of the GNSS device, remote control antenna, three-color light, etc. A plan view of a field to explain the problems with conventional rice transplanters

The following describes in detail an embodiment of the present invention with reference to the drawings.

Figure 1 shows Example 1 of a rice transplanter 1 according to an embodiment of the present invention. In the following, forward/backward, left/right, and up/down are defined based on the traveling direction of the rice transplanter 1.

The following explanation will be given using an example of a rice transplanter 1 that is an 8-row planting type and a combine harvester 7 that is a 5-row harvesting type.

In FIG. 1, the rice transplanter 1 is a rice transplanter that travels on a traveling device 220 having a pair of left and right front wheels 221 and rear wheels 222 in response to the control of a control device for manual or automatic steering operation on a steering device 230 of a vehicle body 100, levels the field with a ground leveling device 260 having a ground leveling rotor member 261 and a ground leveling float member 262, plants seedlings in the field with a seedling planting device 240 having a seedling planting tool 241, and fertilizes the field with a fertilizer device 250. 200 is a control unit that performs driving control and plant spacing adjustment control in the control device, and 201 is a plant spacing adjustment means.

Example 1
As shown in Fig. 2, the rice transplanter 1 can perform eight row planting by reciprocating travel in the central region 3 of the field 2, and then perform eight row planting by headland travel in the headland region 5 at the edge of the ridge 4. The rice transplanter 1 can adjust the spacing between plants.

The planting row spacing 6 for planting by traveling along the headland is the same as the harvesting row spacing 8 for harvesting in the headland area 5 by the combine harvester 7 that is performed later. If they were different, there is a risk that one of the grass splitters k1 to k6 would collide with the rice plants, causing the stalks to split.

In Figure 2, in the central region 3, on the outbound journey, eight rows are planted while moving away from ridge 4 (a1, a2, a3, ...). Then, it makes a U-turn in front of the opposite ridge (located at the top of the page in Figure 2 and not shown), and on the return journey, it approaches ridge 4 while planting eight rows (... b90, b91, b92, b93).

Here, 9 is the spacing between planting rows when traveling back and forth in the central region 3. The spacing between planting rows 6 in the headland region 5 and the spacing between planting rows 9 in the central region 3 are the same. In addition, in the headland region 5, 10 is the spacing between planted stalks when traveling along the headland. Note that in many cases, the spacing between planting rows 9 is wider than the spacing between planting stalks 10. Furthermore, in the central region 3, there are multiple types of spacing between planting stalks 12, 13, and 14, as will be described later. Also, ○ indicates seedlings planted on the headland, and ● indicates seedlings planted back and forth.

On the other hand, 7 is a combine harvester, a 5-row harvester type, equipped with grass separating hooks k1, k2, k3, k4, k5, and k6 at the front. As mentioned above, 8 is the harvesting row spacing of the combine harvester 7. These grass separating hooks k1, k2, k3, k4, k5, and k6 separate tilted or fallen rice plants while preventing them from getting caught. In the case of 5-row harvesting, six grass separating hooks are provided.

Here, as in the case of Figure 2, the harvesting width range W in which the combine harvester 7 is planned to later travel and harvest in the headland area 5 in a direction perpendicular to the direction of reciprocating travel of the rice transplanter 1 (up and down on the drawing) may be expected to extend beyond the headland area 5 to the planted stalks in the central area 3.

In other words, eight rows are planted in the headland region 5, but in this example, the combine harvester 7 is a five-row harvester, and cuts five of the eight rows planted in the headland region 5 at the outermost periphery, and then cuts another five rows on the inside, so that two rows end up protruding into the central region 3. In FIG. 2, 11 indicates the protruding region. Also, 15 indicates the other region that does not protrude.

In this embodiment, when planting during round trip travel, the spacing 12 between the plants a1 and a2 in the protruding area 11 that is expected to protrude is controlled to be wider than the spacing 14 between the plants in the other areas 15 that are not protruding.

More preferably, the distance between the plant a2 in the wider controlled protruding region 11 and the plant a3 immediately adjacent to the plant a2 in the protruding region outside the protruding region 11 is also wider than the distance 14 between the plants in the other region 15.

This widens the spacing between planted stalks in the overhanging area 11 in the circular mowing area of the combine harvester 7, making it easier to guide the combine harvester's grass cutting blade into the wider spacing between stalks when circular mowing by the combine harvester 7, making it easier to align the cutting parts of the combine harvester 7 in rows, and improving harvesting efficiency.

Next, we will explain an example of how the rice transplanter 1 performs planting as described above.

If the occurrence of an overhanging area 11 is expected during harvesting by the combine harvester 7 described above, the spacing between the plants a1, a2 in two rows of eight rows planted in the overhanging area 11 is increased. In other words, in the overhanging area 11, the first row of plants a1 in the eight rows is planted at the starting point of the round trip. At that time, the plants are planted in a predetermined position using a GNSS device or the like, taking into account the width and position of the subsequent headland area 5.

Then, when planting the next row of seedlings a2, the spacing adjustment means 201 is used to plant the seedlings at a greater distance than the usual spacing between the seedlings 14, which is the usual spacing between the seedlings of most other seedlings.

Furthermore, the seedlings a3 in the next row, which are to be planted in the area 15 outside the overhanging area 11, are also planted with the same wide spacing between them and the seedlings a2.

Then, for the seedlings in the next row and onwards to be planted in the area 15 outside the overhanging area 11, the spacing between the seedlings is adjusted to the normal narrow spacing using the spacing adjustment means 201.

After that, as the plant travels in eight rows on the outbound journey and approaches the ridge on the other side (not shown in the drawing, but at the top), the spacing between the plants in the overhanging area 11 is controlled to be wide.

After that, when it makes a U-turn and starts traveling back, it is possible to adjust the spacing between the plants by lining up the seedlings that have already been planted on the way there. And when it approaches ridge 4 (b90, b91, b92, b93), it is possible to plant with a wider spacing between the plants by lining up the seedlings a3, a2, and a1 that have already been planted on the way there. Subsequent plantings on the round trip can be done in a horizontal manner.

Furthermore, after completing the round trip planting, the robot will then circle around the headland area 5 and plant eight rows.

At that time, the rice transplanter 1 uses a side marker or the like to plant the innermost seedling planting line (the eighth row from the bottom in the figure) while maintaining the wide spacing described above with respect to the horizontal line of the plants a1 and b93 closest to the already planted ridge 4.

When harvesting in the fall with a 5-row combine harvester 7, the outermost 5 rows of the headland area 5 are harvested first, followed by the rice just inside. However, at least for the spacing between the rice stalks a1 and a2 in the protruding area 11 (a1-a2,) and the spacing between stalk a2 and the adjacent stalk a3 planted outside the protruding area 11 (a2-a3), the spacing between the rows (corresponding to the spacing between planted stalks) is wide as seen from the combine harvester 7 side. This makes it easier to guide the combine harvester's weed dividers k5 and k6, facilitating row alignment of the harvesting part of the combine harvester 7, and improving harvesting efficiency.

Example 2
Next, a second embodiment will be described with reference to FIG.

In the above Example 1, the spacing between plants 12, 13 in the overhanging area 11 was wider than the normal spacing between plants 14 for many other seedlings, but in this Example 2, the spacing between plants 12 in the overhanging area 11 is controlled to be the same as the harvesting row spacing 8 of the combine, that is, the spacing between planting rows 6, 9.

Furthermore, in the central region 3, it is desirable to control the distance 13 between the plant a2, which is the closest to the other region 15 among the plants a1 and a2 in the protruding region 11, and the plant a3 in the other region 15 adjacent to the plant a2, to be the same as the harvest row distance 8.

By planting the grass in this way, when it is harvested in the fall with a 5-row combine harvester 7, the spacing between the plants a1 and a2 in the overhanging area 11 (a1-a2), and the spacing between the plant a2 and the adjacent plant a3 planted outside the overhanging area 11 (a2-a3) will be the same as the spacing between the harvesting rows 8 on the combine harvester 7 side, making it easier to guide the combine harvester's dividing tines k5 and k6 and aligning the harvesting parts of the combine harvester 7 in rows, improving harvesting efficiency.

Example 3
As described above, in the central region 3 in Fig. 3, on the outward journey, the robot leaves the ridge 4 while planting in eight rows (a1, a2, a3, ...). Then, it makes a U-turn in front of the opposite ridge (located at the top of the page in Fig. 3 and not shown), and on the return journey, it approaches the ridge 4 while planting in eight rows (... b90, b91, b92, b93).

On the other hand, 7 is a combine harvester, a 5-row harvester type, equipped with grass separating hooks k1, k2, k3, k4, k5, and k6 at the front. As mentioned above, 8 is the harvesting row spacing of the combine harvester 7. These grass separating hooks k1, k2, k3, k4, k5, and k6 separate tilted or fallen rice plants while preventing them from getting caught. In the case of 5-row harvesting, six grass separating hooks are provided.

Here, as in the case of Figure 3, the harvesting width range W in which the combine harvester 7 is planned to later travel and harvest in the headland area 5 in a direction (left-right direction on the drawing) perpendicular to the direction of reciprocating travel of the rice transplanter 1 (up-down direction on the drawing) may be expected to extend beyond the headland area 5 to the planted stalks in the central area 3.

In other words, eight rows are planted in the headland region 5, but in this example, the combine harvester 7 is a five-row harvester, and cuts five of the eight rows planted in the headland region 5 at the outermost periphery, and then cuts another five rows on the inside, so that two rows end up protruding into the central region 3. In FIG. 2, 11 indicates the protruding region. Also, 15 indicates the other region that does not protrude.

In this embodiment 3, when planting during round trip travel, the planting positions of the plants a1 and a2 in the protruding area 11 that are expected to protrude are controlled to match a position that is an integer multiple of the row spacing (30 cm) from the nearest ridge 4 (the closer one for plants a1, a2 and b92, b93 in the case of Figure 3). However, since eight rows are planted in the headland planting, the value exceeds the number of rows 8, so in the case of a1 and b93, the integer is 9 times, and when the row spacing is 30 cm, the position is 270 cm as shown. Furthermore, in the case of plants a2 and b92 that are further away from the ridge 4, the integer is 10 times. This results in a position of 300 cm from the ridge.

By controlling in this way, the spacing between a1-a2 and b93-b92 will match the 30 cm spacing between rows.

Furthermore, in the central region 3, the planting position of plant a3 in another region 15 adjacent to plant a2, which is the closest of plants a1 and a2 in the protruding region 11 to the other region 15 that is not protruding, is also set to a position that is an integer multiple of the row spacing. However, this integer multiple is an integer obtained by adding 1 to the integer multiple in the cases of a1 and a2. In other words, the integer is 11. As a result, plant a3 is planted 330 cm from the ridge 4. As a result, the distance between plants a2-a3 is 30 cm. The same applies to the plant spacing b91-b92.

As a result, when the five-row combine harvester 7 is used to harvest the grass in the fall, the spacing between the plants a1 and a2 in the overhanging area 11 (a1-a2), and the spacing between the plant a2 and the adjacent plant a3 planted outside the overhanging area 11 (a2-a3) will be the same as the spacing between the harvesting rows 8 on the combine harvester 7 side, making it easier to guide the combine harvester's dividing tines k5 and k6, facilitating row alignment of the harvesting part of the combine harvester 7, and improving harvesting efficiency.

In addition, when traveling back and forth, plant stock a1 270 cm from the ridge, and then when planting the 8 rows on the headland, use side markers or similar to space the stock a1 along the line, spacing them 30 cm apart, so that naturally 8 rows are planted every 30 cm from ridge 4.

When moving away from ridge 4, it is sufficient to use the GPS only for a1, and by adjusting the spacing between plants for a2 and a3 to a row spacing of 30 cm, the position will naturally become an integer multiple.

Example 4
Fig. 4 shows how the vehicle approaches ridge 4' (shown at the bottom in Fig. 4) on the opposite side of ridge 4, while planting the above-mentioned plants a1, a2, a3, etc. on the outward journey as shown in Fig. 2 (c90, c91, c92, etc.). Note that the lateral direction of travel in the round trip is shown in reverse for convenience. Here, a headland area 5' exists even on the side of ridge 4'.

On the other hand, as mentioned above, 7 is a combine harvester, a 5-row harvester type, equipped with grass separating hooks k1, k2, k3, k4, k5, and k6 at the front. As mentioned above, 8 is the harvesting row spacing of the combine harvester 7. These grass separating hooks k1, k2, k3, k4, k5, and k6 separate tilted or fallen rice plants while preventing them from getting caught. In the case of 5-row harvesting, 6 grass separating hooks are provided.

Here too, the harvesting width range W in which the combine harvester 7 will later travel and harvest in the headland area 5' in a direction perpendicular to the direction of reciprocating travel of the rice transplanter 1 (up and down on the drawing) may be expected to extend beyond the headland area 5' and into the planted stalks in the central area 3.

In other words, eight rows are planted in the headland area 5', but in this example, the combine harvester 7 is a five-row harvester, and cuts five of the eight rows planted in the headland area 5 at the outermost periphery, and then cuts another five rows on the inside, so that two rows end up protruding into the central area 3. In FIG. 4, 11' indicates the protruding area. Also, 15 indicates the other area that does not protrude.

In this Example 4, if the spacing between plants in the approaching protruding area 11' is the same as the normal spacing between plants 14 in the other non-protruding areas 15, the number of plants that can be planted is, for example, two plants c91 and c92. However, if the two plants are planted with a spacing of the harvest row spacing 8 between them, as shown in Figure 4, if the plant closest to the ridge 4' (c92, shown by a square in Figure 4) encroaches on the headland area 5', then that plant c92 will not be planted.

In addition, in the central region 3, the distance between the plant c91 (of the plants in the protruding region 11' (in this example, there is only one plant c91) that is closest to the other region 15) and the plant c90 in the other region 15 adjacent to that plant c91 is also controlled to be the same as the harvest row distance 8.

For the return trip, d1, d2, d3, etc. will be planted horizontally next to the already planted c91, c92, etc.

As a result, when the crop is harvested in the fall using a five-row combine harvester 7, the plants are planted with ample space between them, making it easier to guide the combine harvester's weed dividers k5, k6, making it easier to align the harvesting parts of the combine harvester 7 in rows, and improving harvesting efficiency.

In the above-mentioned Examples 1, 2, 3, 4, etc., the overhanging areas 11, 11', etc. can be determined in advance by determining information about the field, such as the field shape, size, number of planting rows, row spacing, normal spacing between plants, size of the headland area, number of harvesting rows by the combine, etc. Based on this information, the spacing between plants in the above-mentioned Examples 1, 2, 3, 4, etc. will be adjusted.

In this case, the most automated example would be the use of a GNSS device and the above-mentioned field information to enable the above-mentioned control. Alternatively, it would be possible to use manual operation as appropriate, for example by using side markers.

(Example 1 related to the present invention)
In riding rice transplanters, the amount of seedlings harvested can be adjusted by electrically raising and lowering the seedling tank, but the seedling position can shift due to the weight of the seedlings or vibrations. In such cases, it is necessary to retry to adjust the amount of seedlings harvested to the target amount.

It is desirable to retry when there is a high possibility of such a discrepancy occurring, so various cases where this is highly likely are explained below.

(When the ridge clutch is engaged or disengaged)
Retry when switching on/off the ridge clutch.

(When automatic driving is temporarily on hold)
During automatic driving, the vehicle may temporarily wait to turn, etc., and will then retry.

(When switching the planting clutch on and off)
When the planting clutch is switched on and off, a retry is executed in which the seedling tank is moved to a height higher than the currently set target height by a predetermined amount and then moved back to the target height.

(When the motorized rail is in operation)
Retry when the electric rail of the seedling tank is in operation. Any timing is acceptable as long as it is in operation.

(When automatic driving is temporarily stopped)
During automatic driving, the vehicle will pause to make turns, etc., and will retry at that time.

(When automatic driving is paused via remote control)
Retry when a command to pause automatic driving is issued via remote control.

(When using the remote control)
Retry when any operation is performed using the remote control.

(When automatic driving is started using the remote control)
When a command is issued via remote control to start automatic driving that has been stopped, a retry will be performed.

(When instructed to reverse)
When a command to move backward is given, retry is performed.

(When steering)
When steering is performed, a retry is performed.

(When the brake pedal is operated)
Retry occurs when the brake pedal is operated.

(HTS lever in neutral)
Retry occurs when the HES lever is moved from neutral.

(When the HTS lever is returned to neutral)
Retry when the HST lever is returned to neutral.

(Example 2 related to the present invention)
In an electrically powered rice transplanter, the battery is positioned in front of the handle shaft. This reduces the number of gears in the transmission case, preventing rear balance.

In electrically powered rice transplanters, the battery charge level can be displayed on the monitor installed on the machine. This can prevent the machine from being unable to move due to a low battery.

The monitor that displays the remaining battery power is placed in front of the handle axis. It can be seen without moving your eyes much while working.

The monitor that displays the remaining battery power is placed below the handlebars, in a position that does not interfere with operation.

If the battery level drops below a certain level, a buzzer or other sound will sound and a separate message will be displayed on the monitor to alert you. This is to prevent the vehicle from being unable to drive due to a low battery.

If the battery level drops below a certain level, a voice message will be generated and a separate message will be displayed on the monitor to prevent the vehicle from being unable to drive due to a low battery.

If the battery level drops below a certain level, a buzzer will sound and a warning light will flash to warn the driver. This is to prevent the vehicle from being unable to drive due to a low battery.

If the battery level drops below a certain level, a voice message will be emitted and a warning light will flash to warn the driver. This is to prevent the vehicle from being unable to drive due to a low battery.

In an electrically powered rice transplanter, the battery charge level can be displayed on the monitor installed on the machine as well as on a mobile device, etc. This allows users to know when the battery is low even when they are not on the machine, for example by operating a robot.

The battery charge level of an electrically powered robotic rice transplanter can be displayed on the monitor installed on the machine as well as on the remote control used to operate it. This allows users to know when the battery is running low even if they are not on the machine, operating the robot, etc.

In an electrically powered rice transplanter that can be connected to a tablet, etc., the device has a function that notifies the user when it is time to charge the battery based on the battery charge level when the tablet is connected. This can prevent battery deterioration caused by battery discharge during long-term storage.

This rice transplanter is electrically powered and is equipped with a 100V power outlet for charging the battery. Easy charging This rice transplanter is electrically powered and is equipped with a 100V power outlet for charging the battery. It has a switching mode for long-term storage and quick charging. It can prevent the battery from discharging during long-term storage.

(Example 3 related to the present invention)
As shown in Figure 5, the mounting hole 50a of the antenna 50 that receives the remote control signal in the robot rice transplanter is installed on the sensor mounting plate 99a of the GNSS device 99 to form an antenna unit. Since it is located at the top of the rice transplanter and there are few parts that block radio waves, it is easy to receive signals. This has the advantage of eliminating the need for parts for mounting the antenna and not increasing the number of parts.

In the example of Figure 5 above, as shown in Figure 6, the foldable three-color light 51 is installed on the RH (right side) side, and the remote control antenna 50 is installed on the LH (left side). By installing it on the opposite side to the three-color light 51, it is possible to achieve an arrangement that minimizes radio wave interference. Figure 6 (a) shows the three-color light 51 in a folded state, and (b) shows it in an upright state.

In the example shown in Figure 5 above, as shown in Figures 7(a) and (b), the foldable three-color light 51 is installed on the RH side, and the remote control antenna 50 is also installed on the RH side. By installing it on the opposite side to the antenna of the GNSS device 99, the arrangement is such that interference with radio waves between the receivers is avoided as much as possible.

The antenna that receives the remote control signal for the robotic rice transplanter is installed inside the bonnet, just like the receiver controller. This protects the remote control antenna from damage and water damage.

As shown in Figures 8(a) and (b), the antenna 50 that receives the remote control signal for the robotic rice transplanter is attached to the stay 51a of the foldable three-color light 51 to form an antenna unit. It is at the top of the rice transplanter and has few parts that block radio waves, making it easy to receive signals. No parts are required for mounting the antenna, so the number of parts does not increase. Like the three-color light stay, it can be folded up together, preventing damage from being torn down, etc., and making the rice transplanter easier to transport.

This invention is ideal for rice transplanters because it prevents stalks from splitting when harvesting with a combine.

REFERENCE SIGNS LIST 1 Rice transplanter 2 Field 3 Central area 4, 4' Ridge 5, 5' Headland area 6, 9 Planting row spacing 7 Combine 8 Harvesting row spacing 10 Plant spacing in headland area 11, 11' Protruding area 12 Plant spacing in protruding area 14 Other normal plant spacing 15 Central area that is not a protruding area 99 GNSS device 200 Control unit 201 Plant spacing adjustment means a1..., b90..., c90..., d1... Plant (seedling)
k1...Bunkakusa

Claims (1)

In a rice transplanter with adjustable spacing, the planting is performed by traveling back and forth in the central area of the field, and then the planting is performed by traveling on the headland area at the edge of the ridge.
The planting row spacing of the planting by the headland traveling and the harvesting row spacing of the harvesting in the headland area of the combine harvester performed later are the same,
In the case where the combine harvester is scheduled to travel later in the direction perpendicular to the direction of travel of the rice transplanter and to harvest in the headland area, the reaping width range W is expected to extend beyond the headland area to the planted stubble in the central area,
A control unit is provided that controls the spacing between the plants (a1, a2) to be planted in at least the protruding area during planting in the reciprocating travel to be wider than the normal spacing between the plants in other areas that are not protruding ,
The normal spacing is narrower than the planting row spacing;
When planting in the reciprocating travel, the spacing between at least the plants (a1, a2) in the protruding area to be protruding is controlled to be the same as the harvesting row spacing of the combine,
In the central region, the distance between the plant (a2) that is the closest to the other region among the plants (a1, a2) in the protruding region and the plant (a3) in the other region adjacent to the plant (a2) is also set to the same as the harvest row distance;
When planting in the reciprocating travel, at least the planting position of the stumps (a1, a2) in the protruding area to be protruding is controlled so as to coincide with a position that is an integer multiple of the row spacing (however, a value that exceeds the number of rows for planting in the headland) from the closer ridge,
This rice transplanter is characterized in that in the central region, the planting position of the plant (a3) in the other region adjacent to the plant (a2) among the plants (a1, a2) in the protruding region that is closest to the other non-protruding regions is also aligned to a position that is an integer multiple of the spacing between the rows (however, the integer multiple + 1) .

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